Component: Injector (CAN) ()
Author | Matrix Ltd |
Version | 1.0 |
Category |
Contents
Injector (CAN) component
Comms data injector to allow CAN message identifiers to be decoded to specific message strings. Uses an external CSV file to specify the IDs and descriptive strings.
Detailed description
No detailed description exists yet for this component
Examples
The CAN component works together with the injector component to allow you to decode a CAN message ID into a meaningful command.
Example File
CAN_Example1
When a key on the keypad is pressed the CAN components transmits a CAN packet.
The CAN packet is decoded by the injector component to give us a meaningful log on the console window.
High Level CAN Data Console
Low Level CAN Data Console
Reference from CAN Injector to ID decode file, $(srcdir) refers to the current project directory.
Demo CAN ID file File:CANID.csv
Downloadable macro reference
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InitialiseInjector |
Sets up the injector ready to receive commands or send data | |
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InjectorName |
Name of the console that will be created | |
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Return |
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TxByte |
Puts a byte onto the comms channel. CAN packet is inserted into injector like this: ID3, ID2, ID1, ID0, D7, D6, D5, D4, D3, D2, D1, D0, \n | |
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DataByte |
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Return |
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RxByte |
Attempt to receive a byte back from the injector 0 - 255 = Valid data 256 = RX timeout no data available | |
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Return |
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GetConsoleHandle |
Gets the handle to the console allowing data displaying on the panel etc. | |
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HandleIndex |
Selects which console handle to obtain - 0=ID/Data 1=ID Meanings | |
[[File:]] - | Return |
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GetInt |
Gets an integer from the LUT | |
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Index |
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Return |
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SetFloatBits |
Sets the size of a float LUT entry | |
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Bits |
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Return |
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AddInt |
Int to add to the int array | |
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Value |
Int to add to the int array | |
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Return |
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AddFloat |
Add a float to the floating point LUT | |
[[File:]] - | Value |
Floating point values | |
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Return |
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Initialise |
Sets up the GSM module. Returns 0 for OK, 255 for no reply and 254 for command fail. | |
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Return |
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SampleAccel |
Samples the accelerometer 0 = no new data, 1 = new data available | |
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Return |
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Left |
Rotates the robot left - waits for the angle to be traversed before returning | |
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Angle |
Angle to turn in degrees | |
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Return |
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LCDDrawPixel |
Allows a single pixel on the LCD to be set or cleared | |
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X |
X Pixel 0-127 | |
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Y |
Y Pixel 0-31 | |
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State |
0=White (Off), 1=Black (On) | |
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Return |
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ServoSetPosition |
Allows one of the servo positions to be assigned | |
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Channel |
Range 0-3 | |
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Position |
Range 0-255 | |
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Return |
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CardBitmap |
Displays a monochrome bitmap read from the card on the LCD | |
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X |
Range 0-127 | |
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Y |
Range 0-31 | |
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Filename |
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Return |
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CardOpen |
Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK | |
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Filename |
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Return |
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Forwards |
Drives the robot forwards - waits for the distance to be traversed before returning | |
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Distance |
Distance in mm | |
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Return |
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ReadBearing |
Reads the compass bearing based on the degrees clockwise from magnetic north. | |
[[File:]] - | Return |
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GetConsoleHandle |
Gets the handle to the console allowing data displaying on the panel etc. | |
[[File:]] - | Return |
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LCDDrawLine |
Allows a single pixel width line to be drawn on the LCD | |
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X1 |
X Pixel 0-127 | |
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Y1 |
Y Pixel 0-31 | |
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X2 |
X Pixel 0-127 | |
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Y2 |
Y Pixel 0-31 | |
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Return |
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ServoAutoMoveToPosition |
Allows one of the servo positions to move gradually to a new position | |
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Channel |
Range 0-3 | |
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Position |
Range 0-255 | |
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Return |
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ReadAllValue |
Reads a single value stored from the read all command Index dictates which sensor value to read | |
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Index |
0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel | |
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Return |
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LCDBacklight |
Allows the LCD backlight brighntess to be adjusted | |
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Intensity |
Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness | |
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Return |
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LCDDrawRect |
Allows a rectangle to be drawn on the LCD | |
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X1 |
X Pixel 0-127 | |
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Y1 |
Y Pixel 0-31 | |
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X2 |
X Pixel 0-127 | |
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Y2 |
Y Pixel 0-31 | |
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Return |
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ReadLine |
Reads one of the IR line sensors 0-1 0=Left, 1=Right | |
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index |
0=Left, 1=Right | |
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Return |
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ServoDisable |
Allows one of the servo outputs 0-3 to be disabled | |
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Channel |
Range 0-3 | |
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Return |
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ServoEnable |
Allows one of the servo outputs 0-3 to be enabled | |
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Channel |
Range 0-3 | |
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Return |
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CardReadByte |
Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end | |
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Return |
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CardErase |
Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK | |
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Filename |
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Return |
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CardWriteByte |
Appends a byte to the end of the currently open file | |
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Data |
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Return |
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EncoderRead |
Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit. | |
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index |
0=Left, 1=Right | |
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Return |
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SetMotors |
Sets the motor speeds without feedback Range -100 to 100 | |
[[File:]] - | Left |
Range -100 to 100 | |
[[File:]] - | Right |
Range -100 to 100 | |
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Return |
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Backwards |
Drives the robot backwards - waits for the distance to be traversed before returning | |
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Distance |
Distance in mm | |
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Return |
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EncoderReset |
Resets the motor encoder counters | |
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Return |
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LCDVerbose |
Allows the LCD to automatically report the API commands as they get processed. Default - verbose on | |
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State |
0=Off 1=On | |
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Return |
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SetProp |
Allows the COM port property to be set from a parent component. | |
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PropName |
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PropVal |
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Return |
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CardInit |
Attempts to startup the SD card 255=No Card, 254=Init Fail, 0=Init OK | |
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Return |
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GetProp |
Allows the property filter for the COM port list to be copied to a parent component. | |
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PropName |
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Return |
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LCDClear |
Clears the LCD | |
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Return |